Whole body locomotion planning of humanoid robots based on a 3D grid map

Fumio Kanehiro, Takashi Yoshimi, Shuuji Kajita, Mitsuharu Morisawa, Kiyoshi Fujiwara, Kensuke Harada, Kenji Kaneko, Hirohisa Hirukawa, Fumiaki Tomita

研究成果: Conference contribution

45 引用 (Scopus)

抄録

This paper proposes a method for a humanoid robot to generate 3D model of the environment using a stereo vision, find a movable space using it and plan feasible locomotion online. The model is generated by an accumulation of 3D grid maps which are made from the range data of the field of view obtained by a correlation based stereo vision. The locomotion is planned by an online whole body pattern generator which can modify robot's waist height, an upper body posture and so on according to the size of the movable space.

元の言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
ページ1072-1078
ページ数7
2005
DOI
出版物ステータスPublished - 2005
外部発表Yes
イベント2005 IEEE International Conference on Robotics and Automation - Barcelona
継続期間: 2005 4 182005 4 22

Other

Other2005 IEEE International Conference on Robotics and Automation
Barcelona
期間05/4/1805/4/22

Fingerprint

Stereo vision
Robots
Planning

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

これを引用

Kanehiro, F., Yoshimi, T., Kajita, S., Morisawa, M., Fujiwara, K., Harada, K., ... Tomita, F. (2005). Whole body locomotion planning of humanoid robots based on a 3D grid map. : Proceedings - IEEE International Conference on Robotics and Automation (巻 2005, pp. 1072-1078). [1570258] https://doi.org/10.1109/ROBOT.2005.1570258

Whole body locomotion planning of humanoid robots based on a 3D grid map. / Kanehiro, Fumio; Yoshimi, Takashi; Kajita, Shuuji; Morisawa, Mitsuharu; Fujiwara, Kiyoshi; Harada, Kensuke; Kaneko, Kenji; Hirukawa, Hirohisa; Tomita, Fumiaki.

Proceedings - IEEE International Conference on Robotics and Automation. 巻 2005 2005. p. 1072-1078 1570258.

研究成果: Conference contribution

Kanehiro, F, Yoshimi, T, Kajita, S, Morisawa, M, Fujiwara, K, Harada, K, Kaneko, K, Hirukawa, H & Tomita, F 2005, Whole body locomotion planning of humanoid robots based on a 3D grid map. : Proceedings - IEEE International Conference on Robotics and Automation. 巻. 2005, 1570258, pp. 1072-1078, 2005 IEEE International Conference on Robotics and Automation, Barcelona, 05/4/18. https://doi.org/10.1109/ROBOT.2005.1570258
Kanehiro F, Yoshimi T, Kajita S, Morisawa M, Fujiwara K, Harada K その他. Whole body locomotion planning of humanoid robots based on a 3D grid map. : Proceedings - IEEE International Conference on Robotics and Automation. 巻 2005. 2005. p. 1072-1078. 1570258 https://doi.org/10.1109/ROBOT.2005.1570258
Kanehiro, Fumio ; Yoshimi, Takashi ; Kajita, Shuuji ; Morisawa, Mitsuharu ; Fujiwara, Kiyoshi ; Harada, Kensuke ; Kaneko, Kenji ; Hirukawa, Hirohisa ; Tomita, Fumiaki. / Whole body locomotion planning of humanoid robots based on a 3D grid map. Proceedings - IEEE International Conference on Robotics and Automation. 巻 2005 2005. pp. 1072-1078
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